U.S. patent application number 16/114641 was filed with the patent office on 2019-03-28 for vehicle control device.
This patent application is currently assigned to MAZDA MOTOR CORPORATION. The applicant listed for this patent is MAZDA MOTOR CORPORATION. Invention is credited to Shoji HARADA, Takayuki MORITANI, Takashi OSAKI, Ryo SATO, Tetsuya TACHIHATA.
Application Number | 20190094036 16/114641 |
Document ID | / |
Family ID | 65638915 |
Filed Date | 2019-03-28 |
![](/patent/app/20190094036/US20190094036A1-20190328-D00000.png)
![](/patent/app/20190094036/US20190094036A1-20190328-D00001.png)
![](/patent/app/20190094036/US20190094036A1-20190328-D00002.png)
![](/patent/app/20190094036/US20190094036A1-20190328-D00003.png)
![](/patent/app/20190094036/US20190094036A1-20190328-D00004.png)
![](/patent/app/20190094036/US20190094036A1-20190328-D00005.png)
![](/patent/app/20190094036/US20190094036A1-20190328-D00006.png)
United States Patent
Application |
20190094036 |
Kind Code |
A1 |
OSAKI; Takashi ; et
al. |
March 28, 2019 |
VEHICLE CONTROL DEVICE
Abstract
Provide a vehicle control device capable of facilitating input
manipulation for a setup vehicle speed to be used in a driving
support mode. The vehicle control device 100 comprises a control
part operable to execute vehicle speed control according to a setup
vehicle speed, a manipulation unit 24, and a speed limit
recognition part operable to acquire a speed limit, and the
manipulation unit 24 comprises a resume switch 24g, and wherein the
control part is operable, in response to manipulation of the resume
switch 24g during the standby state, to select and store a vehicle
speed value as the setup vehicle speed (S22, S29) in different
manners between a situation where the setup vehicle speed is
currently stored (S20; YES), and a situation where no setup vehicle
speed is currently stored (S20; NO).
Inventors: |
OSAKI; Takashi; (Aki-gun,
JP) ; MORITANI; Takayuki; (Aki-gun, JP) ;
TACHIHATA; Tetsuya; (Aki-gun, JP) ; HARADA;
Shoji; (Aki-gun, JP) ; SATO; Ryo; (Aki-gun,
JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
MAZDA MOTOR CORPORATION |
Hiroshima |
|
JP |
|
|
Assignee: |
MAZDA MOTOR CORPORATION
Hiroshima
JP
|
Family ID: |
65638915 |
Appl. No.: |
16/114641 |
Filed: |
August 28, 2018 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60W 2540/215 20200201;
G08G 1/0125 20130101; G08G 1/09623 20130101; G01C 21/3492 20130101;
G08G 1/0112 20130101; G08G 1/052 20130101; B60W 30/17 20130101;
G08G 1/096716 20130101; B60W 30/143 20130101; B60W 50/082 20130101;
G08G 1/012 20130101; B60W 30/146 20130101; B60W 2555/60
20200201 |
International
Class: |
G01C 21/34 20060101
G01C021/34; G08G 1/01 20060101 G08G001/01; G08G 1/0967 20060101
G08G001/0967; G08G 1/052 20060101 G08G001/052 |
Foreign Application Data
Date |
Code |
Application Number |
Sep 27, 2017 |
JP |
2017-185759 |
Claims
1. A vehicle control device comprising: a control part operable to
execute vehicle speed control for a vehicle according to a setup
vehicle speed being stored, during execution of a driving support
mode; a manipulation unit manipulatable by a driver; and a speed
limit recognition part operable to acquire a speed limit assigned
to a traveling road, wherein the driving support mode includes an
active state in which the vehicle speed control is executed, and a
standby state in which the vehicle speed control is temporarily
disabled, wherein the manipulation unit comprises a resume switch,
and wherein, in response to manipulation of the resume switch
during the standby state, the control part is operable to select
and store a vehicle speed value as the setup vehicle speed in
different manners between a situation where the setup vehicle speed
is currently stored and a situation where no setup vehicle speed is
currently stored.
2. The vehicle control device as recited in claim 1, wherein, in
response to manipulation of the resume switch during the standby
state, the control part is operable to maintain the
currently-stored setup vehicle speed in the situation where the
setup vehicle speed is currently stored, and store the speed limit
acquired by the speed limit recognition part as the setup vehicle
speed in the situation where no setup vehicle speed is currently
stored.
3. The vehicle control device as recited in claim 2, wherein the
control part is further operable to switch the driving support mode
from the standby state to the active state when the control part
operates to maintain the currently-stored setup vehicle speed in
response to manipulation of the resume switch during the standby
state.
4. The vehicle control device as recited in claim 2, wherein the
control part is further operable to maintain the driving support
mode in the standby state when the control part operates to store
the speed limit acquired by the speed limit recognition part as the
setup vehicle speed in response to manipulation of the resume
switch during the standby state.
5. The vehicle control device as recited in claim 1, wherein the
manipulation unit comprises a cancel switch for switching the
driving support mode from the active state to the standby state
during execution of the driving support mode, and wherein the
control part is operable to store the speed limit acquired by the
speed limit recognition part as the setup vehicle speed in response
to manipulation of the cancel switch during the active state.
6. The vehicle control device as recited in claim 5, wherein the
manipulation unit comprises a vehicle speed setting switch for
setting the setup vehicle speed, and wherein the control part is
operable to switch the driving support mode from the standby state
to the active state in response to manipulation of the vehicle
speed setting switch until elapse of a given time period after the
speed limit acquired by the speed limit recognition part is stored
as the setup vehicle speed.
7. The vehicle control device as recited in claim 6, wherein the
control part is operable to change the currently-stored setup
vehicle speed in response to manipulation of the vehicle speed
setting switch after the elapse of the given time period.
8. The vehicle control device as recited in claim 1, wherein the
control part is operable to switch the driving support mode to the
active state so as to execute the vehicle speed control using the
setup vehicle speed currently stored in response to manipulation of
the resume switch during the standby state, and wherein the control
part is operable to store the speed limit acquired by the speed
limit recognition part as the setup vehicle speed in response to
manipulation of the resume switch during the active state, and to
store the speed limit acquired by the speed limit recognition part
as the setup vehicle speed in response to manipulation of the
resume switch during the standby state in a situation where no
setup vehicle speed is currently stored.
9. The vehicle control device as recited in claim 8, wherein, when
the vehicle is stopped by the vehicle speed control in the active
state, the control part is operable to maintain the stopped state
until the resume switch is manipulated, and to permit the vehicle
to be started in response to the manipulation of the resume
switch.
10. A vehicle control device comprising: a control unit configured
to execute vehicle speed control for a vehicle according to a setup
vehicle speed being stored during execution of a driving support
mode, and to acquire a speed limit assigned to a traveling road;
and a manipulation unit manipulatable by a driver, wherein the
driving support mode includes an active state in which the vehicle
speed control is executed, and a standby state in which the vehicle
speed control is temporarily disabled, wherein the manipulation
unit comprises a resume switch, and wherein, in response to
manipulation of the resume switch during the standby state, the
control unit is operable to select and store a vehicle speed value
as the setup vehicle speed in different manners between a situation
where the setup vehicle speed is currently stored, and a situation
where no setup vehicle speed is currently stored.
Description
TECHNICAL FIELD
[0001] The present invention relates to a vehicle control device,
and more particularly to a vehicle control device for executing
vehicle control using a speed limit assigned to a traveling
road.
BACKGROUND ART
[0002] In recent years, various driving support modes have been
provided to a driver by a driving support control system equipped
on a vehicle. For example, there has been known a driving support
mode in which vehicle control is performed to enable a vehicle to
follow a preceding vehicle under the condition that a predetermined
setup vehicle speed is an upper limit vehicle speed (see the
following Patent Document 1). Further, in the Patent Document 1,
the driving support mode is configured to detect a speed limit
(sign-designated speed) from a speed sign imaged by a camera, and
replace a current setup vehicle speed with the detected speed limit
after a given time (3 seconds) of the detection. Thus, in the
Patent Document 1, upon detection of a speed sign, a speed limit
designated by the detected sign (sign-designated speed) is used as
a new setup vehicle speed.
[0003] A driver can disable switching of a current setup vehicle
speed to the sign-designated speed, by manipulate a resume switch
provided on a steering wheel, within a given time period after the
detection. Generally, the resume switch is a switch for switching
the driving support mode from a standby state to an active state.
In a case where a current setup vehicle speed is stored in a
memory, in response to manipulation of the resume switch, the
driving support mode is resumed or restarted using the stored setup
vehicle speed.
CITATION LIST
Patent Document
[0004] Patent Document 1: JP 2012-206594A
SUMMARY OF INVENTION
Technical Problem to be Solved
[0005] However, in the Patent Document 1, no consideration is made
about processing for setting the detected speed limit
(sign-designated speed) as the setup vehicle speed, when the
driving support mode is in the standby state. Therefore, in the
standby state, a driver needs to manually input the detected speed
limit as the setup vehicle speed, leading to a problem that it
takes a lot of time and effort for the input manipulation.
[0006] The present invention has been made in view of solving such
problem, and the object thereof is to provide a vehicle control
device capable of improving manipulatability and safety during
driver's manipulation for inputting a setup vehicle speed to be
used in a driving support mode.
Solution to Technical Problem
[0007] In order to achieve the above object, the present invention
provides a vehicle control device comprising: a control part
operable to execute vehicle speed control for a vehicle according
to a setup vehicle speed being stored, during execution of a
driving support mode; a manipulation unit manipulatable by a
driver; and a speed limit recognition part operable to acquire a
speed limit assigned to a traveling road, wherein the driving
support mode includes an active state in which the vehicle speed
control is executed, and a standby state in which the vehicle speed
control is temporarily disabled, wherein the manipulation unit
comprises a resume switch, and wherein the control part is
operable, in response to manipulation of the resume switch during
the standby state, to select and store a vehicle speed value as the
setup vehicle speed in different manners between a situation where
the setup vehicle speed is currently stored and a situation where
no setup vehicle speed is currently stored.
[0008] In the vehicle control device of the present invention
having the above feature, when a driver manipulates the resume
switch during the standby state of the driving support mode,
processing is executed in different manners depending on whether or
not the setup vehicle speed has already been stored, so as to set
an appropriate value as the setup vehicle speed. Therefore, the
vehicle control device of present invention makes it possible to
improve safety and manipulatability by the driver during returning
to the active state.
[0009] Preferably, in the vehicle control device of the present
invention, the control part is operable, in response to
manipulation of the resume switch during the standby state, to
maintain the currently-stored setup vehicle speed in the situation
where the setup vehicle speed is currently stored, and store the
speed limit acquired by the speed limit recognition part as the
setup vehicle speed in the situation where no setup vehicle speed
is currently stored.
[0010] According to this feature, when the resume switch is
manipulated during the standby state, either one of the
currently-stored or existing setup vehicle speed recognized by the
driver and the speed limit assigned to the traveling road is set as
the setup vehicle speed. Therefore, it becomes possible to improve
safety and manipulatability by the driver during returning to the
active state.
[0011] Preferably, in the above vehicle control device of the
present invention, when the control part operates to maintain the
currently-stored setup vehicle speed in response to manipulation of
the resume switch during the standby state, the control part is
further operable to switch the driving support mode from the
standby state to the active state.
[0012] According to this feature, the driver can use the resume
switch to switch the driving support mode from the standby state to
the active state, as with conventional devices.
[0013] Preferably, in the above vehicle control device of the
present invention, when the control part operates to store the
speed limit acquired by the speed limit recognition part as the
setup vehicle speed in response to manipulation of the resume
switch during the standby state, the control part is further
operable to maintain the driving support mode in the standby
state.
[0014] According to this feature, when the resume switch is
manipulated during the standby state and in the situation where no
setup vehicle speed has yet been stored, setting of the setup
vehicle speed is first performed using the speed limit. Then, the
driver can manipulates the resume switch again to return the
driving support mode to the active state.
[0015] Preferably, in the above vehicle control device of the
present invention, when the control part operates to store the
speed limit acquired by the speed limit recognition part as the
setup vehicle speed in response to manipulation of the resume
switch during the standby state, the control part is operable to
switch the driving support mode from the standby state to the
active state in response to re-manipulation of the resume
switch.
[0016] According to this feature, even in the situation where no
setup vehicle speed has yet been stored, the driver can manipulate
the resume switch twice at a maximum to return the driving support
mode to the active state.
[0017] Preferably, in the vehicle control device of the present
invention, the manipulation unit comprises a cancel switch for
switching the driving support mode from the active state to the
standby state during execution of the driving support mode, and
wherein the control part is operable to store the speed limit
acquired by the speed limit recognition part as the setup vehicle
speed in response to manipulation of the cancel switch during the
active state.
[0018] According to this feature, the driver can manipulate the
cancel switch to switch the driving support mode from the active
state to the standby state. In this process, the speed limit
assigned to the traveling road is stored as the setup vehicle
speed. Thus, when the driving support mode is returned to the
active state, the vehicle speed control in the driving support mode
is executed while using the speed limit assigned to the traveling
road as the setup vehicle speed. Therefore, according to this
feature, it becomes possible to improve safety and manipulatability
by the driver, during returning to the active state, without any
need to re-set the setup vehicle speed in conformity to the
traveling road.
[0019] Preferably, in the above vehicle control device of the
present invention, the manipulation unit comprises a vehicle speed
setting switch for setting the setup vehicle speed, and wherein the
control part is operable to switch the driving support mode from
the standby state to the active state in response to manipulation
of the vehicle speed setting switch until elapse of a given time
period after the speed limit acquired by the speed limit
recognition part is stored as the setup vehicle speed.
[0020] According to this feature, until the elapse of the given
time period after the driving support mode is switched from the
active state to the standby state by the manipulation of the cancel
switch (or after the acquired speed limit is stored as the setup
vehicle speed), the vehicle speed setting switch can be used for
returning the driving support mode to the active state as with the
resume switch, instead of for setting the setup vehicle speed.
[0021] Preferably, in the above vehicle control device of the
present invention, the control part is operable to change the
currently-stored setup vehicle speed in response to manipulation of
the vehicle speed setting switch after the elapse of the given time
period.
[0022] According to this feature, after the elapse of the given
time, the vehicle speed setting switch can be used for achieving an
original function thereof, i.e., a function of setting the setup
vehicle speed.
[0023] Preferably, in the vehicle control device of the present
invention, the control part is operable to switch the driving
support mode to the active state so as to execute the vehicle speed
control using the setup vehicle speed currently stored in response
to manipulation of the resume switch during the standby state, and
wherein the control part is operable to store the speed limit
acquired by the speed limit recognition part as the setup vehicle
speed in response to manipulation of the resume switch during the
active state, and to store the speed limit acquired by the speed
limit recognition part as the setup vehicle speed in response to
manipulation of the resume switch during the standby state in a
situation where no setup vehicle speed is currently stored.
[0024] According to this feature, when the driver manipulates the
resume switch during the standby state of the driving support mode,
the driving support mode is resumed or restarted (returned to the
active state), while using the currently-stored setup vehicle
speed, as with conventional systems. Further, according to this
feature, depending on actual conditions, different controls are
executed in response to manipulation of the resume switch.
Specifically, during the active state, in place of the
currently-stored setup vehicle speed, the speed limit is used as
the setup vehicle speed, and the active state is maintained.
Further, during the standby state and in the situation where no
setup vehicle speed has yet been stored, the speed limit is stored
as the setup vehicle speed. As above, according to this feature,
depending on an activation state (the active or standby state) of
the driving support mode, and the presence or absence of the setup
vehicle speed, the driver can easily set the setup vehicle speed in
conformity to the speed limit assigned to the traveling road, by
means of the resume switch. This makes it possible to improve
safety and manipulatability by the driver, during the driving
support mode.
[0025] Preferably, in the above vehicle control device of the
present invention, the control part is operable, when the vehicle
is stopped by the vehicle speed control in the active state, to
maintain the stopped state until the resume switch is manipulated,
and to permit the vehicle to be started in response to the
manipulation of the resume switch.
[0026] According to this feature, when the vehicle is automatically
stopped by the vehicle speed control in the driving support mode,
the vehicle is allowed to be started in response to the
manipulation of the resume switch indicative of driver's intention
to start the vehicle.
Effect of Invention
[0027] The vehicle control device of the present invention makes it
possible to improve manipulatability and safety during driver's
manipulation for inputting the setup vehicle speed to be used in
the driving support mode.
BRIEF DESCRIPTION OF DRAWINGS
[0028] FIG. 1 is a block diagram of a vehicle control device
according to one embodiment of the present invention.
[0029] FIG. 2 is an explanatory diagram of a manipulation unit in
the vehicle control device according to this embodiment.
[0030] FIG. 3 is an explanatory diagram of vehicle control upon
acquisition of a speed limit, in the vehicle control device
according to this embodiment.
[0031] FIG. 4A and FIG. 4B are explanatory diagrams of vehicle
control by manipulation of a resume switch (during a standby state;
data stored in a memory), in the vehicle control device according
to this embodiment.
[0032] FIG. 5A and FIG. 5B are explanatory diagrams of vehicle
control by manipulation of the resume switch (during the standby
state; no data stored in the memory), in the vehicle control device
according to this embodiment.
[0033] FIG. 6A and FIG. 6B are explanatory diagrams of vehicle
control by manipulation of the resume switch (during an active
state), in the vehicle control device according to this
embodiment.
[0034] FIG. 7A and FIG. 7B are explanatory diagrams of vehicle
control by manipulation of a cancel switch, in the vehicle control
device according to this embodiment.
[0035] FIG. 8 is a part of a processing flow of vehicle control
processing in the vehicle control device according to this
embodiment.
[0036] FIG. 9 is a remaining part of the processing flow of the
vehicle control processing in the vehicle control device according
to this embodiment.
DESCRIPTION OF EMBODIMENTS
[0037] With reference to the accompanying drawings, a vehicle
control device according to one embodiment of the present invention
will now be described. First of all, with reference to FIGS. 1 and
2, the configuration of the vehicle control device according to
this embodiment will be described. FIG. 1 is a block diagram of the
vehicle control device, and FIG. 2 is an explanatory diagram of a
manipulation unit in the vehicle control device.
[0038] The vehicle control device 100 according to this embodiment
is equipped on a vehicle 1 (see FIG. 3), and configured to execute
given driving support control, depending on a driving support mode
selected by a driver.
[0039] In this embodiment, the driving support mode includes a
preceding vehicle following sub-mode, and a vehicle speed limiting
sub-mode. The preceding vehicle following sub-mode is a mode for
executing vehicle speed control and steering control of the vehicle
1, so as to execute vehicle control to enable the vehicle 1 to
travel while maintaining a setup vehicle speed when there is no
preceding vehicle, and to enable the vehicle 1 to follow the
preceding vehicle under the condition that a setup vehicle speed
serves as an upper limit vehicle speed when there is a preceding
vehicle. In this vehicle speed control, the vehicle control device
100 is operable to automatically control an engine power output
through an engine control system 40, and automatically control a
braking force through a brake control system 42. Further, in the
steering control, the vehicle control device 100 is operable to
automatically control a steering angle by a steering wheel through
a steering control system.
[0040] The vehicle speed limiting sub-mode is a mode for executing
the vehicle control (vehicle speed control) so as to prevent the
vehicle speed of the vehicle 1 from exceeding a setup vehicle
speed. In this sub-mode, the engine power output is controlled
according to the amount of depression of an accelerator pedal
caused by manipulation of the accelerator pedal by a driver.
However, when the vehicle speed of the vehicle 1 exceeds the setup
vehicle speed, the vehicle control device 100 is operable to limit
the vehicle speed of the vehicle 1 to the setup vehicle speed,
irrespective of the depression amount of the accelerator pedal. In
this case, the vehicle control device 100 is operable to reduce the
engine power output through the engine control system 40, and,
optionally, as needed, apply the braking force through the brake
control system 42.
[0041] As depicted in FIG. 1, the vehicle control device 100
comprises an electronic control unit (ECU) 10, various
sensors/input-output units, and given vehicle systems. The
sensors/input-output units include: an external imaging camera 20;
a radar device 22 for detecting any second vehicles located forward
and rearward of the vehicle 1; a vehicle speed sensor 23 for
detecting the vehicle speed of the vehicle 1; a manipulation unit
24 for allowing user input regarding the driving support control; a
navigation device 26; a display unit 28 for presenting information
to a driver; a speaker 29; and other sensors. The vehicle systems
include the engine control system 40 and the brake control system
42.
[0042] The ECU 10 comprises a computer comprising a CPU, a memory
11 for storing therein various programs and data, and an
input-output device, etc. The ECU 10 includes various functions,
including functions as a control part 10a and a speed limit
recognition part 10b, for example.
[0043] The ECU 10 (control part 10a) is operable to display given
information on the display unit 28 based on an externally received
signal, and output request signals, respectively, to the vehicle
systems (the engine control system 40, the brake control system 42,
etc.) to execute vehicle control processing during an activated
state of the driving support mode, such as the preceding vehicle
following sub-mode and the vehicle speed limiting sub-mode. The
data stored or to be stored in the memory 11 includes a setup
vehicle speed to be used for the vehicle speed control during
execution of the driving support mode, and a speed limit acquired
by the speed limit recognition part 10b.
[0044] The ECU 10 (control part 10a) is operable to monitor a
current value of the vehicle speed of the vehicle 1 detected by the
vehicle speed sensor 23, and to execute overspeed alarm processing
for generating an overspeed alarm from the speaker 29 (alarm unit)
when the current vehicle speed exceeds a threshold speed. In
addition to the alarm from the speaker 29, the overspeed alarm may
include a visual display on the navigation device 26, the display
unit 28, or the like.
[0045] Further, the ECU 10 (speed limit recognition part 10b) is
operable to execute speed limit recognition processing for
acquiring a speed limit (sign-designated speed) designated by a
speed sign in the image data captured by the camera 20 by analyzing
the image data. The camera 20 is operable to capture an image of a
forward field of view of the vehicle 1, and transmit data about the
captured image to the ECU 10. Here, the speed limit recognition
part 10b may include the camera 20, as one component thereof.
[0046] The radar device 22 is operable to transmit radio waves
(transmission waves) toward forward and rearward sides of the
vehicle 1, and receive resulting reflected waves. Then, based on
the transmission waves and the reflected waves, the radar device 22
is operable to output a signal containing measurement data about an
inter-vehicle distance between the vehicle 1 and the second vehicle
existing forward or rearward of the vehicle 1, and measurement data
about a relative speed with respect to each of the second vehicles.
Here, in place of or in addition to the radar device 22, another
type of sensor such as a laser radar or a sonar may be used.
[0047] The manipulation unit 24 is installed to the steering wheel
of the vehicle 1, and provided with a plurality of switches. As
depicted in FIG. 2, the manipulation unit 24 comprises: two ON
switches 24a, 24b each serving as an activation switch for a
respective one of the driving support sub-modes; an OFF switch 24c
serving as a stop switch; a cancel switch 24d; two vehicle speed
setting switches 24e, 24f; and a resume switch 24g.
[0048] The preceding vehicle following sub-mode can be activated by
manipulating (pushing down) the ON switch 24a. Further, the vehicle
speed limiting sub-mode can be activated by manipulating the ON
switch 24b. The activated state of each of the driving support
sub-modes includes an active state and a standby state. In the
active state, control (vehicle speed control) of changing a vehicle
behavior through the engine control system 40 and/or the brake
control system 42 is executed. The standby state is a state in
which the vehicle behavior changing control is temporarily
disabled.
[0049] By manipulating the OFF switch 24c, a currently-activated
one of the driving support sub-modes can be deactivated,
irrespective of whether it is in the active state or in the standby
state. While the setup vehicle speed stored in the memory 11 of the
ECU 10 is used during the activated state of the selected driving
support sub-mode, the setup vehicle speed stored in the memory 11
is cleared (erased) by manipulating the OFF switch 24c.
[0050] By manipulating the cancel switch 24d, the
currently-activated driving support sub-mode is switched from the
active state to the standby state.
[0051] The setup vehicle speed can be increased from a current
value thereof by manipulating the vehicle speed setting switches
24e. Further, the setup vehicle speed can be reduced from a current
value thereof by manipulating the vehicle speed setting switches
24f. Upon input of the setup vehicle speed by a driver, the input
setup vehicle speed is stored in the memory 11 of the ECU 10. For
example, a driver can press one of the ON switches 24a, 24b, and
then press one of the vehicle speed setting switches 24e, 24f to
thereby input a current value of the vehicle speed of the vehicle 1
as the setup vehicle speed. Further, after storing the setup
vehicle speed in the memory 11 in the above manner, the driver can
manipulate one of the vehicle speed setting switches 24e, 24f so as
to increase or decrease the setup vehicle speed.
[0052] As a basic manipulation function, the resume switch 24g is
used such that it is manipulated to restart or resume the driving
support sub-mode (to the active state), using the setup vehicle
speed stored in the memory 11 of the ECU 10 when the
currently-activated driving support sub-mode is in the standby
state.
[0053] The navigation device 26 is operable to acquire a current
position of the vehicle 1 by using the GPS or the like, and specify
the position of the vehicle 1 on a map, based on stored map
information or map information from an external source. Further,
the navigation device 26 is operable to acquire a speed limit
(sign-designated speed) assigned to a traveling road along which
the vehicle 1 is traveling based on the current position on the
map. Therefore, the navigation device 26 may be used as the speed
limit recognition part.
[0054] The display unit 28 is installed to an instrument panel or
the like, and comprises an activation state display field 28a, a
setup vehicle speed display field 28b, and a speed limit display
field 28c (see FIG. 4A). Although only one activation state display
field 28a is depicted in FIG. 4A for the sake of facilitating
understanding, it is to be understood that a plurality of
activation state display fields may be provided correspondingly to
respective ones of a plurality of driving support modes.
[0055] The activation state display field 28a is a display field
for displaying the activation state of a selected one of the
driving support sub-modes. On the activation state display field
28a, the execution state of the selected driving support sub-mode
is displayed in the form of one of "BLANK (OFF)", "ACTIVE" and
"STANDBY".
[0056] The setup vehicle speed display field 28b is a display field
for displaying the setup vehicle speed (e.g., "80") stored in the
memory 11 of the ECU 10. Here, when no setup vehicle speed is
stored in the memory 11, "BLANK (---)" is displayed on the setup
vehicle speed display field 28b.
[0057] The speed limit display field 28c is a display field for
displaying the acquired speed limit (e.g., "50"). Here, when no
speed limit is acquired, "BLANK" is displayed on the speed limit
display field 28c.
[0058] Next, with reference to FIGS. 3 to 7, various manipulations
with the manipulation unit in the vehicle control device according
to this embodiment will be described. FIG. 3 is an explanatory
diagram of vehicle control upon acquisition of a speed limit. FIG.
4A and FIG. 4B are explanatory diagrams of vehicle control by
manipulation of the resume switch (during the standby state; data
stored in the memory). FIG. 5A and FIG. 5B are explanatory diagrams
of vehicle control by manipulation of the resume switch (during the
standby state; no data stored in the memory). FIG. 6A and FIG. 6B
are explanatory diagrams of vehicle control by manipulation of the
resume switch (during the active state). FIG. 7A and FIG. 7B are
explanatory diagrams of vehicle control by manipulation of the
cancel switch.
[0059] FIG. 3 depicts a state in which the vehicle 1 is traveling
at a vehicle speed of 80 km/h (V=80), along a traveling road 3
assigned with a speed limit of 80 km/h. The vehicle 1 detects a
speed sign 5 (speed limit "50 km/h") provided beside the traveling
road 3, at a position A before the speed sign 5. Subsequently, the
vehicle 1 passes beside the speed sign 5 (passes through a position
B), and enters a zone assigned with a speed limit of 50 km/h (at a
position C). As the driving support mode, one of the preceding
vehicle following sub-mode and the vehicle speed limiting sub-mode
is selected. During the vehicle speed control in the preceding
vehicle following sub-mode, an automatic increase and an automatic
reduction in vehicle speed of the vehicle 1 are executed. On the
other hand, during the vehicle speed control in the vehicle speed
limiting sub-mode, only an automatic reduction in vehicle speed of
the vehicle 1 is executed, wherein the vehicle speed of the vehicle
1 can be increased according to manipulation of the accelerator
pedal by a driver.
[0060] In the example depicted in FIG. 4, at the position A,
information is displayed on the display unit 28 of the vehicle 1,
as depicted in FIG. 4A. At this time, the selected driving support
sub-mode is in the standby state ("STANDBY"), and the setup vehicle
speed is 80 km/h ("80 km/h"). Further, the speed limit is 50 km/h
("50") as the speed sign 5 has been detected.
[0061] When the driver manipulates (presses) the resume switch 24g
at the position B, the operational function of the resume switch
24g is executed (in the same manner as conventionally done). That
is, as depicted in FIG. 4B, the activation state of the selected
driving support sub-mode is switched from the standby state to the
active state, while the setup vehicle speed is maintained at 80
km/h. Thus, "ACTIVE" is displayed on the activation state display
field 28a (at the position C). The vehicle control device 100
executes the vehicle speed control through the engine control
system 40 and/or the brake control system 42, using the setup
vehicle speed as a target vehicle speed. In this example, the
vehicle speed of the vehicle 1 is maintained at 80 km/h. As above,
a conventional part of the operational function of the resume
switch is not changed, so that the driver can manipulate the resume
switch in a conventional manner without any erroneous
manipulation.
[0062] In the example depicted in FIG. 5, at the position A,
information is displayed on the display unit 28 of the vehicle 1,
as depicted in FIG. 5A. At this time, the selected driving support
sub-mode is in the standby state ("STANDBY"), and the speed limit
is 50 km/h ("50"). However, no setup vehicle speed has yet been
stored in the memory 11, so that "BLANK (---)" is displayed on the
setup vehicle speed display field 28b.
[0063] When the driver manipulates (presses) the resume switch 24g
at the position B, the speed limit (50 km/h) is stored as a setup
vehicle speed in the memory 11, and "50" (50 km/h) is displayed on
the setup vehicle speed display field 28b, as depicted in FIG. 5B
(at the position C). That is, in a situation where no setup vehicle
speed has yet been stored in the memory 11 during the standby
state, the driver can manipulate the resume switch 24g to set the
speed limit as the setup vehicle speed. However, the activation
state of the selected driving support sub-mode is still maintained
in the standby state. When the driver wants to set the selected
driving support sub-mode to the active state, he/she has only to
manipulate the resume switch 24g again, as described with reference
to FIG. 4A and FIG. 4B.
[0064] In conventional vehicle control devices, even if a resume
switch is manipulated in the situation as depicted in FIG. 5A, such
a manipulation ends up becoming ineffective. On the other hand, in
this embodiment, by manipulating the resume switch 24g, the driver
can input the speed limit as the setup vehicle speed, in a simple
manner. Therefore, there is no need to manipulate one or more of
the vehicle speed setting switches 24e, 24f as in the conventional
vehicle control devices, so that it becomes possible to simplify
the manipulation.
[0065] In the example depicted in FIG. 6A and FIG. 6B, at the
position A, information is displayed on the display unit 28 of the
vehicle 1, as depicted in FIG. 6A. At this time, the selected
driving support sub-mode is in the active state ("ACTIVE"), and the
setup vehicle speed and the speed limit are, respectively, 80 km/h
("80 km/h") and 50 km/h ("50").
[0066] When the driver manipulates (presses) the resume switch 24g
at the position B, the setup vehicle speed is replaced with the
speed limit (50 km/h), and "50 km/h" is displayed on the setup
vehicle speed display field 28b, as depicted in FIG. 6B (at the
position C). That is, during the active state, the driver can
manipulate the resume switch 24g to newly set the speed limit as
the setup vehicle speed. The vehicle control device 100 executes
the vehicle speed control through the engine control system 40
and/or the brake control system 42, using the newly-set setup
vehicle speed as a target vehicle speed. In this example, the
vehicle speed of the vehicle 1 is reduced from 80 km/h to 50
km/h.
[0067] As above, in addition to the conventional operational
function (function of switching the activation state of the
selected driving support sub-mode from the standby state to the
active state, using the setup vehicle speed displayed on the setup
vehicle speed display field 28b), the resume switch 24g has another
operational function (function of rewriting the setup vehicle speed
with the speed limit during the active state). Therefore, through
the use of an existing resume switch 24g, the driver can perform
the rewriting operation in a simple manner, without providing any
additional switch to the manipulation unit 28.
[0068] In the example depicted in FIG. 7A and FIG. 7B, at the
position A, information is displayed on the display unit 28 of the
vehicle 1, as depicted in FIG. 7A. At this time, the selected
driving support sub-mode is in the active state ("ACTIVE"), and the
setup vehicle speed and the speed limit are, respectively, 80 km/h
("80 km/h") and 50 km/h ("50").
[0069] When the driver manipulates (presses) the cancel switch 24d
at the position B, the selected driving support sub-mode is
switched from the active state to the standby state, so that
"STANDBY" is displayed on the activation state display field 28a,
as depicted in FIG. 7B (at the position C). Further, in this
embodiment, the setup vehicle speed is replaced with the speed
limit (50 km/h), and "50 km/h" is displayed on the setup vehicle
speed display field 28b. As a result that the selected driving
support sub-mode is switched to the standby state, the vehicle
control device 100 does not execute the vehicle speed control. In
this case, the driver will reduce the vehicle speed of the vehicle
1 from 80 km/h to 50 km/h, by manipulating a brake pedal or by
means of an engine brake.
[0070] As above, in addition to the conventional operational
function (function of switching the activation state of the
selected driving support sub-mode from the active state to the
standby state), the cancel switch 24d has another operational
function (function of rewriting the setup vehicle speed with the
speed limit). Therefore, when restarting the selected driving
support sub-mode, the setup vehicle speed has already been set to
the speed limit, so that the driver becomes free from the need to
re-input the setup vehicle speed during restart of the selected
driving support sub-mode.
[0071] Next, with reference to FIG. 8 and FIG. 9, the flow of the
vehicle control processing during the driving support mode, in the
vehicle control device according to this embodiment will be
described. FIG. 8 and FIG. 9 are a processing flow of the vehicle
control processing.
[0072] The ECU 10 (control part 10a) repeatedly executes the
process flow in FIG. 8 and FIG. 9 at given time intervals. Further,
the ECU 10 (speed limit recognition part 10b) executes the speed
limit recognition processing by a different processing routine, and
stores the recognized speed limit in the memory 11.
[0073] Upon start of the vehicle control processing, the ECU 10
operates to determine whether or not a speed limit (sign-designated
speed) has been acquired (S10). If no speed limit has yet been
stored in the memory 11 (S10; NO), the ECU 10 executes normal
processing using no speed limit (S11), and then terminates the
processing. On the other hand, if a speed limit is currently stored
in the memory 11 (S10; YES), the ECU 10 operates to determine
whether a selected one of the driving support sub-modes is in the
active state or in the standby state (S12).
[0074] If the selected driving support sub-mode is in the active
state (S12; YES), the ECU 10 operates to determine whether the
cancel switch 24d has been manipulated (S13). If the cancel switch
24d has been manipulated (S13; YES), the ECU 10 operates to switch
the selected driving support sub-mode from the active state to the
standby state (S14), and rewrite the setup vehicle speed in the
memory with the speed limit (S15), and then terminates the
processing. The steps S12 to S15 correspond to the example in FIG.
7A and FIG. 7B.
[0075] On the other hand, if the cancel switch 24d has not yet been
manipulated (S13 NO), the ECU 10 operates to determine whether or
not the resume switch 24g has been manipulated (S16). If the resume
switch 24g has been manipulated (S16; YES), the ECU 10 operates to
determine whether or not the vehicle 1 is in an automatically
stopped state (S17).
[0076] Here, the automatically stopped state means a state in which
the vehicle 1 is stopped during the preceding vehicle following
sub-mode because a preceding vehicle located forward of the vehicle
1 is stopped. During the automatically stopped state, the ECU 10
operates to output a request signal to the engine control system 40
and the brake control system 42 of the vehicle 1 so as to cause the
vehicle 1 to be maintained in the stopped state.
[0077] If the resume switch 24g has been manipulated in a situation
where the selected driving support sub-mode is in the active state
and the vehicle 1 is not in the automatically stopped state (S17;
NO), the ECU 10 operates to rewrite the setup vehicle speed in the
memory 11 with the speed limit (S19), and then terminates the
processing. The steps S12 to S19 correspond to the example in FIG.
6A and FIG. 6B.
[0078] On the other hand, if the resume switch 24g has been
manipulated in a situation where the selected driving support
sub-mode is in the active state and the vehicle 1 is in the
automatically stopped state (S17; YES), the ECU 10 operates to
release the stopped state of the vehicle 1 to permit starting of
the vehicle 1 (S18), and then terminates the processing. In this
process, in place of the request signal for causing the vehicle 1
to be maintained in the stopped state, the ECU 10 operates to
output a request signal to the engine control system 40 (and the
brake control system 42) so as to cause the vehicle 1 to follow the
preceding vehicle. Thus, the selected driving support sub-mode
(preceding vehicle following sub-mode) is restarted.
[0079] In a situation where, in the automatically stopped state,
the preceding vehicle stopped once is started, the ECU 10 may be
configured to enable the vehicle 1 to be started so as to
automatically follow the preceding vehicle. However, in this
embodiment, the ECU 10 is configured to permit the vehicle 1 to be
started only after a driver of the vehicle 1 being in the
automatically stopped state recognizes starting of the preceding
vehicle (i.e., only after the driver manipulates the resume switch
24g) in order to improve safety.
[0080] On the other hand, if the selected driving support sub-mode
is in the standby state (S12; NO), the ECU 10 operates to determine
whether a setup vehicle speed is currently stored in the memory 11
(S20). Then, if a setup vehicle speed is currently stored (S20;
YES), the ECU 10 operates to determine whether the resume switch
24g has been manipulated (S21). If the resume switch 24g has been
manipulated in a situation where the selected driving support
sub-mode is in the standby state and a setup vehicle speed is
currently stored in the memory 11 (S21; YES), the ECU 10 operates
to switch the selected driving support sub-mode from the standby
state to the active state, while maintaining the setup vehicle
speed currently stored in the memory 11 (S22), and then terminates
the processing. The steps S12 to S22 correspond to the example in
FIG. 4A and FIG. 4B.
[0081] On the other hand, if the resume switch 24g has not yet been
manipulated (S21; NO), the ECU 10 operates to determine whether or
not an elapsed time after the setup vehicle speed is rewritten with
the speed limit (S15) by the manipulation of the cancel switch 24d
(S13) falls within a given time period (e.g., 3 to 10 seconds)
(S23). If the elapsed time falls within the given time period (S23;
YES), the ECU 10 operates to determine whether or not one of the
vehicle speed setting switches 24e, 24f has been manipulated
(S24).
[0082] If one of the vehicle speed setting switches has been
manipulated within the given time period from the manipulation of
the cancel switch 24d (S24; YES), the ECU 10 operates to switch the
selected driving support sub-mode from the standby state to the
active state (S22), in the same manner as that when the resume
switch 24g has been manipulated (S21), and then terminates the
processing.
[0083] In this embodiment, when the driver wants to return the
selected driving support sub-mode to the active state after
manipulating the cancel switch 24d to switch the selected driving
support sub-mode to the standby once, he/she has only to manipulate
the resume switch 24g. Then, at the time of returning to the active
state, the selected driving support sub-mode can be resumed or
restarted in the state where the setup vehicle speed is set by the
speed limit. Further, in this embodiment, as long as the elapsed
time falls within the given time period, each of the vehicle speed
setting switches 24e, 24f can be used to return the selected
driving support sub-mode to the active state, as well as the resume
switch 24g.
[0084] On the other hand, after the elapsed time exceeds the given
time period (S23; NO), each of the vehicle speed setting switches
24e, 24f is used to fulfill a normal operational function.
Specifically, upon manipulation of one of the vehicle speed setting
switches 24e, 24f (S25; YES), the ECU 10 operates to change the
setup vehicle speed stored in the memory 11 according to
manipulation of the one of the vehicle speed setting switches 24e,
24f (S26), and then terminates the processing.
[0085] On the other hand, if no setup vehicle speed is stored in
the memory (S20; NO), the ECU 10 operates to determine whether or
not the resume switch 24g has been manipulated (S28). If the resume
switch 24g has been manipulated in a situation where the selected
driving support sub-mode is in the standby state and no setup
vehicle speed has yet been stored in the memory 11 (S28; YES), the
ECU 10 operates to overwrite a setup vehicle speed by the speed
limit in the memory 11 (S29), and then terminates the processing.
In this process, the selected driving support mode is maintained in
the standby state. The steps S12 to S29 correspond to the example
in FIG. 5A and FIG. 5B.
[0086] Next, functions of the vehicle control device according to
this embodiment will be described.
[0087] The vehicle control device 100 according to this embodiment
comprises: a control part (ECU 10) operable to execute vehicle
speed control for a vehicle 1 according to a setup vehicle speed
being stored, during execution of a driving support mode; a
manipulation unit 24 manipulatable by a driver; and a speed limit
recognition part (ECU 10, navigation device 26) operable to acquire
a speed limit assigned to a traveling road 3, wherein the driving
support mode includes an active state in which the vehicle speed
control is executed, and a standby state in which the vehicle speed
control is temporarily disabled, and the manipulation unit 24
comprises a resume switch 24g, and wherein, in response to
manipulation of the resume switch 24g (S21, S28) during the standby
state, the control part (ECU 10) is operable to select and store a
vehicle speed value as the setup vehicle speed in different manners
between a situation where the setup vehicle speed is currently
stored (S20; YES), and a situation where no setup vehicle speed is
currently stored (S20; NO).
[0088] In the vehicle control device according to this embodiment,
when a driver manipulates the resume switch 24g during the standby
state of the driving support mode, processing is executed in
different manners depending on whether or not the setup vehicle
speed is currently stored in the memory 11, so as to set an
appropriate value as the setup vehicle speed. Therefore, the
vehicle control device according to this embodiment makes it
possible improve safety and manipulatability by the driver, during
returning to the active state.
[0089] In the vehicle control device according to this embodiment,
in response to manipulation of the resume switch (S21, S28) during
the standby state, the control part (ECU 10) is operable to
maintain the currently-stored setup vehicle speed (S22) in the
situation where the setup vehicle speed is currently stored (S20;
YES), and store the speed limit acquired by the speed limit
recognition part as the setup vehicle speed (S29) in the situation
where no setup vehicle speed is currently stored (S20; NO).
According to this feature, in the situation where the setup vehicle
speed is stored in the memory 11 (see FIG. 4), the currently-stored
setup vehicle speed (ECU 10) is maintained, and, in the situation
where no setup vehicle speed has yet been stored in the memory 11
(see FIG. 5), the setup vehicle speed is set by the speed limit.
That is, when the resume switch 24g is manipulated during the
standby state, either one of the currently-stored or existing setup
vehicle speed recognized by the driver and the speed limit assigned
to the traveling road 3 is set as the setup vehicle speed.
Therefore, it becomes possible to improve safety and
manipulatability by the driver, during returning to the active
state.
[0090] In the vehicle control device according to this embodiment,
the control part (ECU 10) is further operable to switch the driving
support mode from the standby state to the active state (S22) when
the control part (ECU 10) operates to maintain the setup vehicle
speed currently stored by the control part in response to
manipulation of the resume switch 24g during the standby state
(S21). According to this feature, the driver can use the resume
switch 24g to switch the driving support mode from the standby
state to the active state, as with conventional systems.
[0091] In the vehicle control device according to this embodiment,
the control part (ECU 10) is further operable to maintain the
driving support mode in the standby state (S29) when the control
part (ECU 10) operates to store the speed limit acquired by the
speed limit recognition part as the setup vehicle speed in response
to manipulation of the resume switch 24g during the standby state
(S28). According to this feature, when the resume switch 24g is
manipulated during the standby state and in the situation where no
setup vehicle speed has yet been stored in the memory 11, setting
of the setup vehicle speed is first performed using the speed
limit. Thus, the driver can visually check the setup vehicle speed
on the setup vehicle speed display field 28b. Then, the driver can
re-manipulates the resume switch 24g to return the driving support
mode to the active state.
[0092] In the vehicle control device according to this embodiment,
the control part (ECU 10) is operable to switch the driving support
mode from the standby state to the active state (S22) in response
to re-manipulation of the resume switch 24g (S21) when the control
part (ECU 10) operates to store the speed limit acquired by the
speed limit recognition part as the setup vehicle speed (S29) in
response to manipulation of the resume switch 24g during the
standby state (S28). According to this feature, even in the
situation where no setup vehicle speed has yet been stored in the
memory 11 (S20; NO), the driver can manipulate the resume switch
24g twice at a maximum (S28, S21) to return the driving support
mode to the active state.
[0093] In the vehicle control device according to this embodiment,
the manipulation unit comprises a cancel switch 24d for switching
the driving support mode from the active state to the standby state
during execution of the driving support mode, and wherein the
control part (ECU 10) is operable to store the speed limit acquired
by the speed limit recognition part (ECU 10, navigation device 26)
as the setup vehicle speed (S15) in response to manipulation of the
cancel switch 24d during the active state (S13).
[0094] According to this feature, the driver can manipulate the
cancel switch 24d to switch the driving support mode from the
active state to the standby state. In this process, the speed limit
assigned to the traveling road 3 is stored as the setup vehicle
speed. Thus, when the driving support mode is returned to the
active state, the vehicle speed control in the driving support mode
is executed by using the speed limit assigned to the traveling road
as the setup vehicle speed. Therefore, according to this feature,
it becomes possible to improve safety and manipulatability by the
driver, during returning to the active state, without any need to
re-set the setup vehicle speed in conformity to the traveling road
3.
[0095] In the vehicle control device according to this embodiment,
the manipulation unit 24 comprises the vehicle speed setting switch
(24e, 24f) for setting the setup vehicle speed, wherein the control
part (ECU 10) is operable to switch the driving support mode from
the standby state to the active state (S22) in response to
manipulation of the vehicle speed setting switch (24e, 24f) until
elapse of a given time period (e.g., 3 to 10 seconds) (S23; YES)
after the speed limit acquired by the speed limit recognition part
is stored as the setup vehicle speed.
[0096] According to this feature, until the elapse of the given
time period after the driving support mode is switched from the
active state to the standby state by the manipulation of the cancel
switch 24d (or after the acquired speed limit is stored as the
setup vehicle speed), the vehicle speed setting switch (24e, 24f)
can be used for returning the driving support mode to the active
state as with the resume switch 24g, instead of for setting the
setup vehicle speed.
[0097] In the vehicle control device according to this embodiment,
the control part (ECU 10) is operable to change the
currently-stored setup vehicle speed (S26) in response to
manipulation of the vehicle speed setting switch (24e, 24f) after
the elapse of the given time period (S23; NO). According to this
feature, after the elapse of the given time, the vehicle speed
setting switch (24e, 24f) can be used for achieving an original
function thereof, i.e., a function of setting the setup vehicle
speed.
[0098] In the vehicle control device according to this embodiment,
the control part (ECU 10) is operable to switch the driving support
mode to the active state so as to execute the vehicle speed control
using the setup vehicle speed currently stored (S22) in response to
manipulation of the resume switch 24g (S21) during the standby
state, and the control part (ECU 10) is operable to store the speed
limit acquired by the speed limit recognition part as the setup
vehicle speed (S19) in response to manipulation of the resume
switch 24g (S16) during the active state, and to store the speed
limit acquired by the speed limit recognition part as the setup
vehicle speed (S29) in response to manipulation of the resume
switch 24g (S28) during the standby state in a situation where no
setup vehicle speed is currently stored (S20; NO).
[0099] According to this feature, when the driver manipulates the
resume switch 24g during the standby state of the driving support
mode, the driving support mode is resumed or restarted (returned to
the active state), while using the setup vehicle speed currently
stored in the memory 11, as with conventional systems. Further,
according to this feature, depending on actual conditions,
different controls are executed in response to manipulation of the
resume switch 24g. Specifically, during the active state, in place
of the setup vehicle speed currently stored by the control part
(ECU 10), the speed limit is used as the setup vehicle speed, and
the active state is maintained. Further, during the standby state
and in the situation where no setup vehicle speed has yet been
stored in the memory 11, the speed limit is stored in the memory 11
as the setup vehicle speed. As above, according to this feature,
depending on the activation state (the active or standby state) of
the driving support mode, and the presence or absence of the setup
vehicle speed currently stored in the memory 11, the driver can
easily set the setup vehicle speed in conformity to the speed limit
assigned to the traveling road, by means of the resume switch 24g.
This makes it possible to improve safety and manipulatability by
the driver during the driving support mode.
[0100] In the vehicle control device according to this embodiment,
when the vehicle 1 is stopped by the vehicle speed control in the
active state (S17; YES), the control part (ECU 10) is operable to
maintain the stopped state until the resume switch 24g is
manipulated, and to permit the vehicle 1 to be started (S18) in
response to the manipulation of the resume switch 24g. According to
this feature, when the vehicle 1 is automatically stopped by the
vehicle speed control in the driving support mode, the vehicle 1 is
allowed to be started in response to the manipulation of the resume
switch 24g indicative of driver's intention to start the vehicle
1.
LIST OF REFERENCE SIGNS
[0101] 1: vehicle [0102] 10: control unit [0103] 100: vehicle
control device
* * * * *